Mercurial > Kubik
changeset 132:afaac497dfe7
steps
| author | Radomir Dopieralski <sheep-devel@sheep.art.pl> |
|---|---|
| date | Sat, 12 Jul 2014 12:02:13 +0000 |
| parents | 6617b34e4047 |
| children | 6cfedf4dc1b7 |
| files | creep.py kubik.py rotate.py |
| diffstat | 3 files changed, 42 insertions(+), 32 deletions(-) [+] |
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--- a/creep.py Wed Jul 09 21:29:58 2014 +0000 +++ b/creep.py Sat Jul 12 12:02:13 2014 +0000 @@ -1,6 +1,6 @@ import kubik -STRIDE = 45 +STRIDE = 42 SPEED = 3 SWING = 24 SWING_SPEED = 4 @@ -8,14 +8,14 @@ HEIGHT = -35 STEP = -5 OVERLAP = 1 -FPS = 6 +FPS = 36 -def swing(robot): +def _swing(robot, delay, steps): for i in range(delay): yield pause = STRIDE / SPEED + 3 - SWING * 2 / SWING_SPEED - while True: + for step in range(steps): for i in range(pause): yield for i in range(-SWING, SWING, SWING_SPEED): @@ -28,10 +28,10 @@ yield -def creep(leg, side, delay, robot): +def _creep(leg, side, delay, steps): for i in range(delay): yield - while True: + for step in range(steps): leg.move_to((None, None, STEP)) for i in range(4): yield @@ -44,15 +44,20 @@ yield +def creep(robot, steps): + delay = (2 * STRIDE / SPEED + 6) / 4 + animations = [ + _swing(robot, 0, steps), + _creep(robot.legs[0], 1, delay * 0 + OVERLAP, steps), + _creep(robot.legs[1], 1, delay * 1 - OVERLAP, steps), + _creep(robot.legs[3], -1, delay * 2 + OVERLAP, steps), + _creep(robot.legs[2], -1, delay * 3 - OVERLAP, steps), + ] + return animations + + if __name__ == '__main__': robot = kubik.Robot() robot.home() - delay = (2 * STRIDE / SPEED + 6) / 4 - animations = [ - swing(robot), - creep(robot.legs[0], 1, delay * 0 + OVERLAP, robot), - creep(robot.legs[1], 1, delay * 1 - OVERLAP, robot), - creep(robot.legs[3], -1, delay * 2 + OVERLAP, robot), - creep(robot.legs[2], -1, delay * 3 - OVERLAP, robot), - ] + animations = creep(robot, 10) robot.run_animations(animations, FPS)
--- a/kubik.py Wed Jul 09 21:29:58 2014 +0000 +++ b/kubik.py Sat Jul 12 12:02:13 2014 +0000 @@ -143,7 +143,7 @@ KneeServo(m, 5, reverse=True, trim=-200), AnkleServo2(m, 3, reverse=True, trim=-400, center=1500 * 4), True), - Leg(HipServo(m, 7, reverse=True, trim=150), + Leg(HipServo(m, 7, reverse=False, trim=-150), KneeServo(m, 8, trim=100), AnkleServo1(m, 6, trim=0, center=1500 * 4), True),
--- a/rotate.py Wed Jul 09 21:29:58 2014 +0000 +++ b/rotate.py Sat Jul 12 12:02:13 2014 +0000 @@ -1,22 +1,22 @@ import kubik -STRIDE = 10 -SPEED = 1 +STRIDE = -20 +SPEED = -1 SWING = 18 SWING_SPEED = 3 STEP = -10 HEIGHT = -35 -OVERLAP = 1 -FPS = 12 +OVERLAP = -3 +FPS = 36 -def swing(robot, (dx, dy), delay=0): +def _swing(robot, (dx, dy), delay, steps): for i in range(delay): yield pause = STRIDE / SPEED + 3 - SWING * 2 / SWING_SPEED first = True - while True: + for step in range(steps): for i in range(pause): yield for i in range(-SWING, SWING, SWING_SPEED): @@ -33,11 +33,11 @@ -def rotate(leg, side, delay): +def _rotate(leg, side, delay, steps): for i in range(delay): yield first = True - while True: + for step in range(steps): leg.move_to((None, None, STEP)) for i in range(4): yield @@ -55,16 +55,21 @@ yield +def rotate(robot, steps): + delay = (2 * STRIDE / SPEED + 6) / 4 + animations = [ + _swing(robot, (-1, 0), 0 * delay, steps), +# swing(robot, (0, 1), 1 * delay, steps), + _rotate(robot.legs[0], 1, 0 * delay + OVERLAP, steps), + _rotate(robot.legs[1], -1, 1 * delay - OVERLAP, steps), + _rotate(robot.legs[3], -1, 2 * delay + OVERLAP, steps), + _rotate(robot.legs[2], 1, 3 * delay - OVERLAP, steps), + ] + return animations + + if __name__ == '__main__': robot = kubik.Robot() robot.home() - delay = (2 * STRIDE / SPEED + 6) / 4 - animations = [ - swing(robot, (-1, 0), 0 * delay), -# swing(robot, (0, 1), 1 * delay), - rotate(robot.legs[0], 1, 0 * delay + OVERLAP), - rotate(robot.legs[1], -1, 1 * delay - OVERLAP), - rotate(robot.legs[3], -1, 2 * delay + OVERLAP), - rotate(robot.legs[2], 1, 3 * delay - OVERLAP), - ] + animations = rotate(robot, 10) robot.run_animations(animations, FPS)